Robot Vision

On behalf of the organizerswe would like to welcome all participants to the "Robot Vision 2001" workshop. Our objective has been to bring together - searchersinrobotvision,andtopromoteinteractionanddebate. Participants oftheworkshopcomefromEurope,US,theMiddleEast,theFarEast,andof coursefromNewZealand. Fifty-twopapersweresubmittedtotheworkshop,andeachpaperwasth- oughlyreviewedbyatleastthreereviewers. Seventeenpaperswereselectedfor oral presentation, and seventeen papers were selected for poster presentation. There were no invited technical papers, to give all participants the sense of equalopportunity. Thetechnicalscopeoftheworkshopisverywide,andincludespresentations onmotionanalysis,3Dmeasurements,calibration,navigation,objectrecog- tion,andmore. Thescheduleoftheworkshopwasthereforepreparedtoallow, inadditiontothetechnicalpresentation,ampletimefordiscussionsandint- action. Wehopethatinteractionamongresearchersofsuchdi?erentareas,yet allpartofrobotvision,willresultinbetterunderstandingandresearchofthe robotvisionarea.February2001 ReinhardKlette,ShmuelPeleg,andGeraldSommer Organization RobVis2001wasorganizedbytheCenterforImageTechnologyandRobotics (CITR),Tamakicampus,TheUniversityofAuckland. Co-chairs ReinhardKlette(Auckland,NewZealand) ShmuelPeleg(Jerusalem,Israel) GeraldSommer(Kiel,Germany) Program Committee JackyBaltes(Auckland, NZ), ThomasBr..aunl (Nedlands, AUS), Ross Clarke (Hamilton,NZ),GeorgyGimel'farb(Auckland,NZ),AtsusuhiImiya(Chiba,J), Reinhard Klette (Auckland, NZ), Claus-E. Liedtke (Hanover,D), Bruce Mac- Donald (Auckland, NZ), Takashi Matsuyama (Kyoto, Japan), Allan McIvor (Auckland,NZ),JosefPauli(Kiel,D),ShmuelPeleg(Jerusalem,IL),Moshe- rat(Haifa,IL),GeraldSommer(Kiel,D),BillTrigs(Grenoble,F),andFriedrich Wahl(Braunschweig,D). Local Organizing Committee JackyBaltes,GeorgyGimel'farb,UlrichGun .. ther,JamesHarper,ReinhardKlette, CeciliaLourdes,BruceMacDonald,S. Manoharan,SudhirReddy,andSharon Walker. Sponsors TheInternationalAssociationforPatternRecognition MORST/DFG InstituteofElectricalandElectronicEngineers(IEEE)-NZNorthSection TheUniversityofAuckland,Tamakicampus VisualImpactAucklandLtd. Table of Contents Active Perception VisualCuesforaFixatingActiveAgent ...1 M?artenBj..orkmanandJan-OlofEklundh TrackingwithaNovelPoseEstimationAlgorithm ...9 BodoRosenhahn,NorbertKru..ger,TorgeRabschandGeraldSommer Real-TimeTrackingofArticulatedHumanModels Usinga3DShape-from-SilhouetteMethod...19 JasonLuck,DanSmallandCharlesQ. Little Hierarchical3DPoseEstimationforArticulatedHumanBodyModels fromaSequenceofVolumeData...27 SebastianWeikandC. -E. Liedtke Vision-BasedRobotLocalizationUsingSporadicFeatures...35 StefanEnderle,HeikoFolkerts,MarcusRitter,StefanSablatn..og, GerhardKraetzschmarandGunth .. erPalm Poster Session1: Computer Vision AComparisonofFeatureMeasurementsforKineticStudies onHumanBodies...43 NikkiAustin,YenChen,ReinhardKlette,RobertMarshall, Yuan-shengTsaiandYongbaoZhang ObjectIdenti?cationandPoseEstimationforAutomaticManipulation ...52 BenjaminHohnhaeuserandGuenterHommel TowardSelf-calibrationofaStereoRigfromNoisyStereoscopicImages ...60 SlimaneLarabi AColorSegmentationAlgorithmforReal-TimeObjectLocalization onSmallEmbeddedSystems...69 PhilippeLeclercqandThomasBrau ..nl EYESCAN-AHighResolutionDigitalPanoramicCamera...77 KarstenScheibe,HartmutKorsitzky,RalfReulke,MartinScheele andMichaelSolbrig AWavelet-BasedAlgorithmforHeightfromGradients ...84 TiangongWeiandReinhardKlette EnhancedStereoVisionUsingFree-FormSurfaceMirrors...91 AlexanderWuerz,StefanK. GehrigandFridtjofJ. Stein VIII Table of Contents Poster Session2:Robotics& Video RoboCup-99:AStudent'sPerspective ...99 JackyBaltes Horus:ObjectOrientationandIdwithoutAdditionalMarkers ...107 JackyBaltes AnStereoscopicVisionSystemGuidinganAutonomousHelicopter forOverheadPowerCableInspection ...115 PascualCampoy,PedroJ. Garcia,AntonioBarrientos, JaimedelCerro,In"aquiAguirre,Andr'esRoa,RafaelGarcia andJos'eM. Muno"z 3DStereoVision-BasedNursingRobotforElderlyHealthCare ...125 Wee-SoonChing,EdwardHo,ChristopherOng,HsTayandSai-MuiLim E?cientComputationofIntensityPro?lesforReal-TimeVision ...131 ErnstDieterDickmanns SubpixelFlowDetectionbytheHoughTransform ...140 AtsushiImiyaandKeisukeIwawaki TrackingofMovingHeadsinClutteredScenesfromStereoVision ...148 RuijiangLuoandYanGuo ServoingMechanismsforPeg-In-HoleAssemblyOperations ...157 JosefPauli,ArneSchmidtandGeraldSommer RobotLocalizationUsingOmnidirectionalColorImages ...167 DavidC. K. YuenandBruceA. MacDonald TheBackgroundSubtractionProblemforVideoSurveillanceSystems ...176 AlanMcIvor,QiZangandReinhardKlette Computational Stereo StableMonotonicMatchingforStereoscopicVision ...184 ? RadimS'ara RandomSamplingandVotingMethod forThree-DimensionalReconstruction ...193 KazuhikoKawamotoandAtsushiImiya BinocularStereobyMaximizingtheLikelihoodRatioRelative toaRandomTerrain...201 GeorgyGimel'farb StereoReconstructionfromPolycentricPanoramas ...